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kite_model_test.cpp
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Tue, Jul 15, 05:59

kite_model_test.cpp
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#define BOOST_TEST_MODULE kite_model_test
#include <boost/test/included/unit_test.hpp>
#include "integrator.h"
#include "kite.h"
using namespace casadi;
BOOST_AUTO_TEST_SUITE( kite_model_suite_test )
BOOST_AUTO_TEST_CASE( ode_solver_test )
{
std::string kite_config_file = "umx_radian.yaml";
KiteProperties kite_props = kite_utils::LoadProperties(kite_config_file);
AlgorithmProperties algo_props;
algo_props.Integrator = RK4;
/** SCALING */
//kite_props.Tether.length = kite_props.Tether.length / 3;
KiteDynamics kite(kite_props, algo_props);
Function ode = kite.getNumericDynamics();
/** compare three ode solvers */
Dict opts;
opts["tf"] = 1.0;
opts["poly_order"] = 10;
opts["tol"] = 1e-10;
opts["method"] = IntType::RK4;
ODESolver rk4_solver(ode, opts);
opts["method"] = IntType::CVODES;
ODESolver cvodes_solver(ode, opts);
opts["method"] = IntType::CHEBYCHEV;
ODESolver chebychev_solver(ode, opts);
//kite_props.Tether.length = kite_props.Tether.length / 3;
//std::cout << "New tether length : " << kite_props.Tether.length << "\n";
KiteDynamics kite2(kite_props, algo_props);
Function ode2 = kite.getNumericDynamics();
double tf = 1.0;
casadi::DMDict props;
props["scale"] = 1;
props["P"] = casadi::DM::diag(casadi::DM({0.1, 1/3.0, 1/3.0, 1/2.0, 1/5.0, 1/2.0, 1/3.0, 1/3.0, 1/3.0, 1.0, 1.0, 1.0, 1.0}));
props["R"] = casadi::DM::diag(casadi::DM({1/0.15, 1/0.2618, 1/0.2618}));
PSODESolver<9,1,13,3>ps_solver(ode2, tf, props);
/** solve a problem */
DM rk4_sol, cheb_sol, cv_sol, ps_sol;
//DM init_state = DM::vertcat({0.318732, 0.182552, 0.254833, 1.85435, -0.142882, -0.168359,
// -0.229383, -0.0500282, -0.746832, 0.189409, -0.836349, -0.48178, 0.180367});
//DM control = DM::vertcat({0.3, kmath::deg2rad(5), -kmath::deg2rad(2)});
DM init_state = DM::vertcat({6.9339, -0.6144, 1.6105, -0.0007, -1.2395, -1.9020,
-1.2460, 2.5256, -0.2083, -0.8945, -0.3079, -0.2095, -0.2471});
DM control = DM::vertcat({0.15, 0.139623, -0.072583});
std::chrono::time_point<std::chrono::system_clock> start = kite_utils::get_time();
rk4_sol = rk4_solver.solve(init_state, control, tf);
std::chrono::time_point<std::chrono::system_clock> rk4_stop = kite_utils::get_time();
cv_sol = cvodes_solver.solve(init_state, control, tf);
std::chrono::time_point<std::chrono::system_clock> cv_stop = kite_utils::get_time();
cheb_sol = chebychev_solver.solve(init_state, control, tf);
std::chrono::time_point<std::chrono::system_clock> cheb_stop = kite_utils::get_time();
ps_sol = ps_solver.solve(init_state, control);
std::chrono::time_point<std::chrono::system_clock> ps_stop = kite_utils::get_time();
auto rk4_duration = std::chrono::duration_cast<std::chrono::microseconds>(rk4_stop - start);
auto cv_duration = std::chrono::duration_cast<std::chrono::microseconds>(cv_stop - rk4_stop);
auto cheb_duration = std::chrono::duration_cast<std::chrono::microseconds>(cheb_stop - cv_stop);
auto ps_duration = std::chrono::duration_cast<std::chrono::microseconds>(ps_stop - cheb_stop);
std::cout << "RK4 solve time: " << std::setprecision(6)
<< static_cast<double>(rk4_duration.count()) * 1e-6 << " [seconds]" << "\n";
std::cout << "CVODES solve time: " << std::setprecision(6)
<< static_cast<double>(cv_duration.count()) * 1e-6 << " [seconds]" << "\n";
std::cout << "CHEB solve time: " << std::setprecision(6)
<< static_cast<double>(cheb_duration.count()) * 1e-6 << " [seconds]" << "\n";
std::cout << "PS solve time: " << std::setprecision(6)
<< static_cast<double>(ps_duration.count()) * 1e-6 << " [seconds]" << "\n";
std::cout << "RK4: " << rk4_sol << "\n";
std::cout << "CVODES: " << cv_sol << "\n";
std::cout << "CHEB: " << cheb_sol << "\n";
std::cout << "PS:" << ps_sol << "\n";
BOOST_CHECK(true);
}
BOOST_AUTO_TEST_SUITE_END()

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